From b1cbc3d4b0cf317cd48481114fba862ebf625465 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 30 Mar 2017 13:30:38 -0700
Subject: [PATCH 1/4] fix a potential memory leak for URDF files with multiple
 materials using the same name

---
 examples/Importers/ImportURDFDemo/UrdfParser.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 2ec443db2..cf5b9c626 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -620,6 +620,15 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
               if (parseMaterial(visual.m_geometry.m_localMaterial, mat,logger))
               {
                   UrdfMaterial* matPtr = new UrdfMaterial(visual.m_geometry.m_localMaterial);
+				  
+				  UrdfMaterial** oldMatPtrPtr = model.m_materials[matPtr->m_name.c_str()];
+				  if (oldMatPtrPtr)
+				  {
+					  UrdfMaterial* oldMatPtr = *oldMatPtrPtr;
+					  model.m_materials.remove(matPtr->m_name.c_str());
+					  if (oldMatPtr)
+						  delete oldMatPtr;
+				  }
                   model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
                   visual.m_geometry.m_hasLocalMaterial = true;
               }

From a7c67b4d9d2fe34a1264ac22d8888df773a6bd50 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 30 Mar 2017 13:50:02 -0700
Subject: [PATCH 2/4] avoid memory leaks, even if a the python interpreter
 exits without calling 'disconnect' on all physics servers (register a
 Py_AtExit function that cleans all up), to avoid memory leaks

---
 examples/pybullet/pybullet.c | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index cc9bda8d0..85416fbfa 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1,3 +1,4 @@
+#include "vld.h"
 #include "../SharedMemory/PhysicsClientC_API.h"
 #include "../SharedMemory/PhysicsDirectC_API.h"
 #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
@@ -398,6 +399,22 @@ static PyObject* pybullet_disconnectPhysicsServer(PyObject* self,
 	return Py_None;
 }
 
+
+void b3pybulletExitFunc()
+{
+	int i;
+	for (i=0;i<MAX_PHYSICS_CLIENTS;i++)
+	{
+		if (sPhysicsClients1[i])
+		{
+			b3DisconnectSharedMemory(sPhysicsClients1[i]);
+			sPhysicsClients1[i] = 0;
+			sNumPhysicsClients--;
+		}
+	}
+}
+
+
 static PyObject* pybullet_saveWorld(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	const char* worldFileName = "";
@@ -5453,6 +5470,10 @@ initpybullet(void)
 	Py_INCREF(SpamError);
 	PyModule_AddObject(m, "error", SpamError);
 
+		
+	Py_AtExit( b3pybulletExitFunc );
+	
+
 #ifdef PYBULLET_USE_NUMPY
 	// Initialize numpy array.
 	import_array();

From e5290560d7d77de7dd550821a1311781017c5404 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 30 Mar 2017 13:54:32 -0700
Subject: [PATCH 3/4] avoid checking beyond string length in
 b3CommandLineArgs.h

---
 src/Bullet3Common/b3CommandLineArgs.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/Bullet3Common/b3CommandLineArgs.h b/src/Bullet3Common/b3CommandLineArgs.h
index 481f95aaf..38df8e260 100644
--- a/src/Bullet3Common/b3CommandLineArgs.h
+++ b/src/Bullet3Common/b3CommandLineArgs.h
@@ -29,7 +29,7 @@ public:
 	    {
 	        std::string arg = argv[i];
 
-	        if ((arg[0] != '-') || (arg[1] != '-')) {
+			if ((arg.length() < 2) || (arg[0] != '-') || (arg[1] != '-')) {
 	        	continue;
 	        }
 

From 473196a492d4b5c4d4d94729759dac335a06bf2c Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 30 Mar 2017 13:56:37 -0700
Subject: [PATCH 4/4] remove vld.h

---
 examples/pybullet/pybullet.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 85416fbfa..b041f88d8 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1,4 +1,4 @@
-#include "vld.h"
+
 #include "../SharedMemory/PhysicsClientC_API.h"
 #include "../SharedMemory/PhysicsDirectC_API.h"
 #include "../SharedMemory/SharedMemoryInProcessPhysicsC_API.h"